CN114073843B

CN114073843B - Balance training system, control method thereof, and computer-readable storage medium storing control program

Info

Publication number: CN114073843B
Application number: CN202110895322.7A
Authority: CN
Inventors: 新谷和宏
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2020-08-11
Filing date: 2021-08-05
Publication date: 2023-01-31
Anticipated expiration: 2041-08-05
Also published as: US20220047922A1; CN114073843A; JP2022032104A

Abstract

The invention provides a balance training system, a control method thereof and a computer readable storage medium storing a control program. The balance training system includes: a load detection unit having a placement surface for supporting the sole of a standing trainer and detecting a load received from the trainer placed on the placement surface; a movable body to which a load detection unit is attached; a control unit that calculates the center of gravity position of the trainee based on the load detected by the load detection unit and controls the movement of the moving body based on a change in the center of gravity position; and a vibrator provided to be capable of applying vibration to the trainee, wherein the control unit causes the vibrator to vibrate to urge the trainee to move the center of gravity position from the current position to a desired position.

Description

Balance training system, control method thereof, and computer-readable storage medium storing control program

Technical Field

The invention relates to a balance training system, a control method thereof and a control program.

Background

The rehabilitation support device disclosed in japanese patent No. 6260811 includes: the stress plate can be used for the examinee to stand; a load detection sensor that detects a load applied to the stress plate by the subject; a center-of-gravity position detection means for detecting the center-of-gravity position of the subject based on the load detected by the load detection sensor; and a driving unit. Here, the drive unit moves the force receiving plate in accordance with the moving direction of the center of gravity of the subject.

Disclosure of Invention

In the related art, there are problems as follows: when a subject (trainer) who needs support is difficult to receive support from a voice of an assistor due to hearing loss, higher brain dysfunction, or the like, the subject cannot perform effective balance training.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a balance training system, a control method thereof, and a control program thereof, which can perform effective training even when a trainer is difficult to receive support from a voice of an assistant.

A balance training system according to an embodiment of the present invention includes: a load detection unit having a placement surface for supporting the sole of a standing trainer, and detecting a load received from the trainer riding on the placement surface; a movable body to which the load detection unit is attached; a control unit that calculates a center of gravity position of the trainee based on the load detected by the load detection unit, and controls movement of the mobile body based on a change in the center of gravity position; and a vibrator provided to be capable of applying vibration to the trainee, wherein the control unit causes the vibrator to vibrate to urge the trainee to move the center of gravity position from a current position to a desired position. In this balance training system, even when the trainee is unable to receive support from the sound of the assistor due to hearing loss, higher brain dysfunction, or the like, the trainee can receive support from the vibration of the vibrator. Thus, the trainer can perform effective balance training.

Preferably, the control unit increases the vibration of the vibrator as the difference between the current position of the center of gravity position and the desired position is larger. Thus, the trainer can know the degree of movement of the center of gravity from the magnitude of the vibration of the vibrator.

Preferably, the control unit applies the vibration of the vibrator to a part of the trainee corresponding to a direction from the current position of the center of gravity position to the desired position. More specifically, it is preferable that the control unit applies the vibration of the vibrator to any one of a toe and a heel of the foot of the trainer determined in accordance with an orientation from the current position of the center of gravity position to the desired position. This allows the trainer to know in which direction the center of gravity should be moved, based on the portion to which the vibration of the vibrator is applied.

The vibrator is provided below the load detection unit. Thus, the load detection unit can prevent erroneous detection due to the load of the vibrator. Alternatively, the vibrator is attached to a predetermined portion of the trainee. Thus, the trainee can receive the vibration of the vibrator more accurately.

A method for controlling a balance training system according to an embodiment of the present invention includes: detecting a load received from a trainee riding on a placement surface by using a load detection unit having the placement surface for supporting a sole of the trainee in a standing state; and a step of calculating a barycentric position of the trainee based on the load detected by the load detection unit, and controlling the movement of the mobile body to which the load detection unit is attached based on a change in the barycentric position, wherein in the step of controlling the movement of the mobile body, the vibrator is vibrated to urge the trainee to move the barycentric position from a current position to a desired position. In the control method of the balance training system, even when the trainee is difficult to receive the support of the sound from the assistor due to hearing loss, higher brain dysfunction, or the like, the trainee can receive the support of the vibration by the vibrator. Thus, the trainer can perform effective balance training.

A control program according to an embodiment of the present invention causes a computer to execute: processing for detecting a load received from a trainee riding on a placement surface by using a load detection unit having the placement surface for supporting a sole of the trainee in a standing state; and a process of calculating a barycentric position of the trainee based on the load detected by the load detection unit, and controlling the movement of the mobile body to which the load detection unit is attached based on a change in the barycentric position, wherein the process of controlling the movement of the mobile body causes the vibrator to vibrate, thereby urging the trainee to move the barycentric position from a current position to a desired position. In this control program, even when the trainer is difficult to receive support from the assistant due to hearing loss, higher brain dysfunction, or the like, the trainer can receive support from vibration of the vibrator. Thus, the trainer can perform effective balance training.

According to the present invention, it is possible to provide a balance training system, a control method thereof, and a control program thereof, which can perform effective balance training even when a trainer is difficult to receive support from a voice of an assistor.

The above and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description given below and the accompanying drawings, which are given for purposes of illustration only and thus should not be taken as limiting the present disclosure.

Drawings

Fig. 1 is a schematic perspective view of a balance training system according to embodiment 1.

FIG. 2 is a schematic side view of a portion of the balance training system shown in FIG. 1.

Fig. 3 is a diagram for explaining the operation of the balance training system shown in fig. 1.

Fig. 4 is a diagram for explaining the operation of the balance training system shown in fig. 1.

Fig. 5 is a schematic side view showing a first modification of the balance training system shown in fig. 1.

Fig. 6 is a diagram for explaining the operation of the balance training system shown in fig. 5.

Fig. 7 is a diagram for explaining the operation of the balance training system shown in fig. 5.

Fig. 8 is a schematic side view showing a second modification of the balance training system shown in fig. 1.

Fig. 9 is a schematic perspective view of a balance training system according to embodiment 2.

FIG. 10 is a side diagrammatic view of a portion of the balance training system shown in FIG. 9.

Fig. 11 is a schematic side view showing a modification of the balance training system shown in fig. 9.

Detailed Description

The present invention will be described below with reference to embodiments thereof, but the invention according to the claims is not limited to the embodiments below. All the configurations described in the embodiments are not necessarily essential as means for solving the problems. For the sake of clarity, the following description and drawings are appropriately omitted and simplified. In the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted as necessary.

< embodiment 1 >

Fig. 1 is a schematic perspective view (a view seen obliquely from the rear left) of a balance training system 100 according to embodiment 1. Fig. 2 is a diagrammatic side view (view from the left) of a portion of the balance training system 100. The balance training system 100 may also be referred to as a balance training apparatus.

The balance training system 100 is a system for allowing a trainee having an injury such as hemiplegia to learn a shift of the center of gravity necessary for walking or allowing a trainee having an injury to the ankle to recover the ankle function. For example, the trainer 900 who wants to restore the ankle function keeps riding on the balance training system 100 while taking balance, and thus the balance training system 100 can apply a load to the ankle of the trainer 900 to such an extent that a rehabilitation effect can be expected.

Specifically, the balance training system 100 includes a treadmill 150, a boarding plate 152, a load sensor 153, a vibrator 155, a controller 160, and an armrest 170. The boarding plate 152 and the load sensor 153 constitute a load detection unit. In the following description, the up-down direction, the left-right direction, and the front-back direction are directions based on the direction of the trainer 900.

The treadmill 150 includes at least an endless belt (moving body) 151, a pulley 156, and a motor (not shown). Further, a load detection unit including a load sensor 153 and a riding plate 152, and a vibrator 155 are placed on the belt 151.

The boarding plate 152 is a boarding portion on which the trainee 900 boards, and has a placement surface for supporting the sole of the trainee 900 in a standing state. The boarding plate 152 is a rectangular flat plate made of, for example, polycarbonate resin, which has high rigidity and is resistant to boarding by the trainee 900. The riding plate 152 is supported on the upper surface of the belt 151 via load sensors 153 arranged at four corners.

The load sensor 153 is, for example, a load cell, and detects a load received from the feet of the trainer 900 standing on the boarding plate 152. The load sensors 153 are disposed at four corners of the boarding plate 152, and support the boarding plate 152.

The armrests 170 are provided, for example, to the side of the trainer 900 to enable the trainer 900 to grip when losing balance or feeling uneasy.

The control unit 160 calculates the center of gravity position of the trainee 900 from the load detected by the load sensor 153, and rotates the pulley 156 based on the movement vector (movement direction and movement amount) of the calculated center of gravity position, thereby rotating the endless belt 151. As the belt 151 rotates (moves), the trainer 900 standing on the belt 151 also moves.

In addition, the control unit 160 controls the vibration of the vibrator 155. The vibrator 155 is attached to a predetermined position on the lower side of the riding board 152, for example, so that vibration is transmitted to the sole of the trainee 900 standing on the riding board 152. By providing the vibrator 155 on the lower side of the mounting plate 152, the load detection unit can prevent erroneous detection due to the load of the vibrator 155, unlike the case of mounting.

The control unit 160 causes the vibrator 155 to vibrate, thereby prompting the trainer 900 to move the center of gravity position from the current position to a desired position (in other words, based on a movement vector from the current position to the desired position of the center of gravity). This enables the trainer 900 to perform training to move the center of gravity to a desired position while being supported by the vibration of the vibrator 155 from the sole.

As described above, in the balance training system 100, even when the trainer 900 is difficult to receive support from the assistant due to hearing loss, higher brain dysfunction, or the like, the trainer 900 can receive support from the vibration of the vibrator 155. Thus, the trainer 900 can perform effective balance training.

(actions of balance training System 100)

Next, the operation of the balance training system 100 will be described with reference to fig. 3 and 4.

Fig. 3 and 4 are diagrams for explaining the operation of the balance training system 100.

In the example of fig. 3 and 4, the vibrator 155 is configured by 4 vibrators 155FR, 155FL, 155BR, and 155 BL. Vibrator 155FR is disposed in front of the right sole of exerciser 900 (toe portion), vibrator 155FL is disposed in front of the left sole of exerciser 900 (toe portion), vibrator 155BR is disposed behind the right sole of exerciser 900 (heel portion), and vibrator 155BL is disposed behind the left sole of exerciser 900 (heel portion).

The trainer 900 brings the sole of the foot into contact with an arbitrary position in the center of the belt 151 before the start of training to set the foot in a stationary standing state, and performs training to try to move the center of gravity while preventing the sole from moving from the position of contact when training is started, thereby achieving balance.

Before the start of training, control unit 160 calculates center of gravity position CP0 of trainer 900 in the stationary standing state. Specifically, the control unit 160 calculates an initial center of gravity CP0 of the trainee 900 from the loads received from the left and right feet FT of the trainee 900 detected by the load sensors 153 disposed at the four corners of the rectangular boarding plate 152. At this time, the control unit 160 defines the expected center of gravity position CPx as the destination of movement according to the training level of the trainer 900.

When training is started, the control unit 160 periodically calculates the center of gravity position CP1 of the trainer 900 during balance training. In the example of fig. 3, the trainer 900 maintains a stationary stance during balance training. Therefore, the center of gravity position CP1 is not changed from the initial center of gravity position CP0.

At this time, control unit 160 causes vibrator 155 to vibrate, thereby prompting trainer 900 to move center of gravity position CP1 from initial center of gravity position CP0 to desired center of gravity position CPx. In the example of fig. 3, the center of gravity position CPx is located forward of the center of gravity position CP0. Therefore, control unit 160 vibrates oscillators 155FR and 155FL (i.e., applies vibrations to the toe portions of both feet of trainer 900). This allows the trainer 900 to recognize that the instruction to move the center of gravity CP1 forward has been received. That is, the trainer 900 can perform balance training while receiving support from vibration of the vibrator.

When the control unit 160 instructs to move the center of gravity CP1 of the trainer 900 diagonally forward to the right, it vibrates the vibrator 155FR (that is, vibrates the toe of the right foot of the trainer 900). When an instruction is given to move the center of gravity CP1 of the trainer 900 diagonally to the left and forward, the control unit 160 causes the vibrator 155FL to vibrate (i.e., applies vibration to the toe of the left foot of the trainer 900). When an instruction to move the center of gravity CP1 of the trainee 900 diagonally rearward to the right is given, the control unit 160 vibrates the vibrator 155BR (that is, vibrates the heel of the right foot of the trainee 900). When the control unit 160 instructs the trainer 900 to move the center of gravity CP1 diagonally to the left and backward, it vibrates the vibrator 155BL (i.e., vibrates the heel of the left foot of the trainer 900). This allows the trainer 900 to know in which direction the center of gravity should be moved, from the portion to which the vibration of the vibrator 155 is applied.

Further, the control unit 160 increases the vibration of the vibrator 155 (in this example, the vibrators 155FR and 155 FL) as the difference between the current barycentric position CP1 of the trainer 900 and the desired barycentric position CPx increases. Thus, the trainer 900 can know how much the center of gravity should be moved from the magnitude of the vibration of the vibrator 155.

In the present example, control unit 160 vibrates oscillators 155FR and 155FL when giving an instruction to move center of gravity CP1 of trainer 900 forward, but is not limited to this. For example, controller 160 may vibrate vibrators (vibrators 155BR and 155BL in this example) provided in directions in which the center of gravity is not expected to move.

When the trainer 900 moves the center of gravity position CP1 to the center of gravity position CPx as instructed, the control unit 160 rotates the belt 151 based on the movement vector of the center of gravity position CP1 (the arrow of the solid line in fig. 4; in this example, the movement vector from the center of gravity position CP0 to the center of gravity position CPx). As the belt 151 rotates, the trainer 900 standing on the belt 151 also moves. In this example, the belt 151 is rotatable only in the front-rear direction.

The X axis shown in fig. 4 indicates the position of the center of gravity in the front-rear direction when the rear end of the boarding plate 152 is taken as a starting point. In the example of fig. 4, the position of the center of gravity position CP0 in the X-axis direction is the position X0, and the position of the center of gravity position CP1 in the X-axis direction is the position X1. The control unit 160 rotates the belt 151 forward or backward based on the difference between the position X1 and the position X0. In the example of fig. 4, the control unit 160 rotates the belt 151 forward in accordance with the difference between the position X1 and the position X0.

(first modification of balance training System 100)

Fig. 5 is a schematic side view showing a first modification of the balance training system 100 as a balance training system 100 a.

In the balance training system 100a, the load detection unit is not constituted by the riding plate 152 and the load sensor 153, but is constituted by the load distribution sensor 154. The following description will be specifically made.

The load distribution sensor 154 is composed of a plurality of sensors arranged in a matrix on a placement surface for supporting the sole of the trainee 900 in a standing state. The load distribution sensor 154 can detect the distribution of the surface pressure received from the foot of the trainer 900 by using a plurality of sensors. Therefore, the load distribution sensor 154 can detect the load received from the trainer 900.

The vibrator 155 is attached to a predetermined position below the load distribution sensor 154, for example, and transmits vibration to the sole of the trainee 900 standing on the placement surface of the load distribution sensor 154.

The control unit 160 causes the vibrator 155 to vibrate, thereby prompting the trainer 900 to move the center of gravity position from the current position to a desired position. This enables the trainer 900 to perform training to move the center of gravity to a desired position while being supported from the sole by the vibration of the vibrator 155.

Fig. 6 and 7 are diagrams for explaining the operation of the balance training system 100 a. Fig. 6 and 7 correspond to fig. 3 and 4, respectively. Other structures and operations of the balance training system 100a are the same as those of the balance training system 100, and therefore, the description thereof is omitted.

In this way, even the balance training system 100a can provide the same effect as that of the balance training system 100.

(second modification of balance training System 100)

Fig. 8 is a schematic side view showing a second modification of the balance training system 100 as a balance training system 100 b.

In the balance training system 100b, the load distribution sensor 154 is disposed inside the endless belt 151 (below the belt 151 on the surface on which the trainee 900 rides) as compared with the balance training system 100 a.

The vibrator 155 is attached to a predetermined position below the boarding plate 152, for example, and transmits vibration to the sole of the trainee 900 standing on the boarding plate 152 via the belt 151.

The control unit 160 causes the vibrator 155 to vibrate, thereby prompting the trainer 900 to move the center of gravity position from the current position to a desired position. This enables the trainer 900 to perform training to move the center of gravity to a desired position while being supported by the vibration of the vibrator 155 from the sole.

Other structures and operations of the balance training system 100b are the same as those of the balance training system 100, and therefore, the description thereof is omitted.

In this way, even the balance training system 100b can provide the same effect as that of the balance training system 100.

< embodiment 2 >

Fig. 9 is a schematic perspective view (a view seen obliquely from the rear left) of the balance training system 200 according to embodiment 2. Fig. 10 is a diagrammatic side view (view from the left) of a portion of the balance training system 200. Balance training system 200 may also be referred to as a balance training apparatus.

The balance training system 200 includes a mobile cart (mobile body) 250, a boarding plate 252, a load sensor 253, a vibrator 255, a control unit 260, and an armrest 270. The boarding plate 252 and the load sensor 253 constitute a load detection unit. The riding plate 252, the load sensor 253, the vibrator 255, the control unit 260, and the armrest 270 correspond to the riding plate 152, the load sensor 153, the vibrator 155, the control unit 160, and the armrest 170, respectively. In the following description, the up-down direction, the left-right direction, and the front-back direction are directions based on the direction of the trainer 900.

The movable carriage 250 is configured to be movable in the front-rear direction on a traveling surface such as a floor surface of a rehabilitation facility. Further, a load detection unit including a load sensor 253 and a boarding plate 252, and a vibrator 255 are mounted on the movable carriage 250.

The boarding plate 252 is a boarding portion on which the trainee 900 boards, and has a placement surface for supporting the sole of the trainee 900 in a standing state. The boarding plate 252 is a rectangular flat plate made of, for example, polycarbonate resin having high rigidity and resistant to the boarding of the trainee 900. The riding plate 252 is supported on the upper surface of the movable carriage 250 via load sensors 253 arranged at four corners.

The load sensor 253 is, for example, a load cell, and detects a load applied from the feet of the trainer 900 standing on the boarding plate 252. The load sensors 253 are disposed at four corners of the riding plate 252, and support the riding plate 252.

The armrests 270 are positioned, for example, to the side of the trainer 900 to enable the trainer 900 to grasp when losing balance or feeling uneasy.

The control unit 260 calculates the center of gravity position of the trainee 900 from the load detected by the load sensor 253, and moves the mobile carriage 250 by rotating the wheels 256 at a speed, direction, and amount corresponding to the movement vector (movement direction and movement amount) of the calculated center of gravity position. As the mobile dolly 250 moves, the trainer 900 standing on the mobile dolly 250 also moves.

Further, control unit 260 controls the vibration of vibrator 255. The vibrator 255 is attached to a predetermined position on the lower side of the riding plate 252, for example, and transmits vibration to the sole of the trainee 900 standing on the riding plate 252. By providing the vibrator 255 below the mounting plate 252, the load detection unit can prevent erroneous detection due to the load of the vibrator 255, unlike the case of mounting.

The control unit 260 causes the vibrator 255 to vibrate, thereby prompting the trainer 900 to move the center of gravity position from the current position to the desired position (in other words, based on the movement vector from the current position to the desired position of the center of gravity). This enables the trainer 900 to perform training to move the center of gravity to a desired position while being supported by the vibration of the vibrator 255 from the sole.

As described above, in the balance training system 200, even when the trainer 900 is difficult to receive support from the assistant due to hearing loss, higher brain dysfunction, or the like, the trainer 900 can receive support from the vibration of the vibrator 255. Thus, the trainer 900 can perform effective balance training.

(modification of balance training System 200)

Fig. 11 is a schematic side view showing a modification of the balance training system 200 as a balance training system 200 a.

In the balance training system 200a, the load detection unit is not constituted by the riding plate 252 and the load sensor 253, but is constituted by the load distribution sensor 254. The following description will be specifically made.

The load distribution sensor 254 is composed of a plurality of sensors arranged in a matrix on a placement surface that supports the sole of the trainee 900 in a standing state. The load distribution sensor 254 can detect the distribution of the surface pressure received from the foot of the trainer 900 by using a plurality of sensors. Therefore, the load distribution sensor 254 can detect the load applied from the trainer 900.

The vibrator 255 is attached to a predetermined position below the load distribution sensor 254, for example, and transmits vibration to the sole of the trainee 900 standing on the placement surface of the load distribution sensor 254.

Control unit 260 causes vibrator 255 to vibrate, thereby prompting trainer 900 to move the center of gravity position from the current position to a desired position. This enables the trainer 900 to perform training to move the center of gravity to a desired position while being supported by the vibration of the vibrator 255 from the sole.

Other structures and operations of the balance training system 200a are the same as those of the balance training system 200, and therefore, the description thereof is omitted.

In this way, even the balance training system 200a can provide the same effect as that of the balance training system 200.

The present invention is not limited to the above embodiments 1 and 2, and can be modified as appropriate within the scope of the invention.

In embodiment 1, the case where the vibrator 155 is provided below the load detection unit has been described as an example, but the present invention is not limited to this. The vibrator 155 may be attached to a predetermined portion (for example, a toe portion and a heel portion of each of both feet) of the trainer 900, for example. Thereby, the trainer 900 can receive the vibration of the vibrator 155 more accurately.

Similarly, in embodiment 2, the case where the vibrator 255 is provided below the load detection unit has been described as an example, but the present invention is not limited to this. Vibrator 255 may be attached to a predetermined portion of trainer 900 (e.g., toe and heel portions of both feet), for example. This enables trainer 900 to receive the vibration of vibrator 255 more accurately.

In embodiment 1, the case where the control unit 160 rotates the belt 151 in the front-rear direction based on the movement vector of the center of gravity position CP1 has been described as an example, but the present invention is not limited to this. If the belt 151 is configured to be rotatable not only in the front-rear direction but also in the left-right direction, the control unit 160 can rotate the belt 151 in the front-rear direction and the left-right direction according to the movement vector of the center of gravity position CP1.

Similarly, in embodiment 2, the case where the control unit 260 moves the traveling carriage 250 in the front-rear direction based on the movement vector of the center of gravity position CP1 has been described as an example, but the present invention is not limited thereto. If the mobile carriage 250 is configured to be movable not only in the front-rear direction but also in the left-right direction, the control unit 260 can move the mobile carriage 250 in the front-rear direction and the left-right direction according to the movement vector of the center of gravity position CP1.

In embodiment 1, the case where control unit 160 is incorporated in treadmill 150 has been described as an example, but the present invention is not limited to this. The control unit 160 may be provided outside the treadmill 150, and may be configured to remotely operate the treadmill 150. Similarly, in embodiment 2, the case where the control unit 260 is built in the mobile cart 250 has been described as an example, but the present invention is not limited to this. The control unit 260 may be provided outside the mobile cart 250, and may be configured to enable remote operation of the mobile cart 250.

In the above embodiments, the present disclosure is described as a hardware configuration, but the present disclosure is not limited thereto. The present disclosure can realize the control process of the balance training system by causing a CPU (Central Processing Unit) to execute a computer program.

Further, the above-described program may be stored using various types of Non-transitory computer readable media and provided to a computer. The non-transitory computer readable medium includes various types of tangible storage media. The non-transitory computer readable medium includes, for example, a magnetic recording medium, an magneto-optical recording medium, a CD-ROM (Read Only Memory), a CD-R, CD-R/W, a semiconductor Memory. The magnetic recording medium is, for example, a flexible disk, a magnetic tape, a hard disk drive, or the like. The magneto-optical recording medium is, for example, a magneto-optical disk. Examples of semiconductor memories are mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory), and the like. In addition, the program may also be provided to the computer from various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable medium may provide the program to the computer through a wired communication path such as an electric wire and an optical fiber or through a wireless communication path.

From the described disclosure, it is apparent that the embodiments of the disclosure can be varied in a number of ways. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims

1. A balance training system comprising:

a load detection unit having a placement surface for supporting a sole of a standing trainer, and detecting a load received from the trainer placed on the placement surface;

a movable body to which the load detection unit is attached;

a control unit that calculates a center of gravity position of the trainee based on the load detected by the load detection unit, and controls movement of the mobile body based on a change in the center of gravity position; and

a vibrator configured to be capable of applying vibration to the trainee,

the control section causes the vibrator to vibrate, thereby urging the trainee to move the center of gravity position from a current position to a desired position,

the control unit applies the vibration of the vibrator to any one of a toe and a heel of the foot of the trainer determined in accordance with an orientation from the current position of the center of gravity position to the desired position.

2. The balance training system of claim 1,

the control unit may cause the vibrator to vibrate more when a difference between the current position of the center of gravity position and the desired position is larger.

3. The balance training system according to claim 1 or 2,

the vibrator is provided below the load detection unit.

4. The balance training system of claim 1 or 2,

the vibrator is attached to a predetermined portion of the trainee.

5. A control method of a balance training system comprises the following steps:

detecting a load received from a trainee riding on a placement surface by using a load detection unit having the placement surface for supporting a sole of the trainee in a standing state; and

calculating a barycentric position of the trainee based on the load detected by the load detection unit, and controlling movement of the mobile body to which the load detection unit is attached based on a change in the barycentric position,

vibrating a vibrator in the step of controlling the movement of the moving body so as to urge the trainer to move the barycentric position from a current position to a desired position,

in the step of controlling the movement of the mobile body, the vibration of the vibrator is applied to any one of a toe and a heel of the foot of the trainer determined according to the direction from the current position of the center of gravity position to the desired position.

6. A computer-readable storage medium storing a control program that causes a computer to execute:

processing for detecting a load received from a trainee riding on a placement surface by using a load detection unit having the placement surface for supporting a sole of the trainee in a standing state; and

a process of calculating the center of gravity position of the trainee based on the load detected by the load detection unit and controlling the movement of the mobile body to which the load detection unit is attached based on a change in the center of gravity position,

wherein the content of the first and second substances,

the control program causes a computer to execute: vibrating a vibrator in a process of controlling movement of the mobile body, thereby urging the trainer to move the center of gravity position from a current position to a desired position,

in the process of controlling the movement of the mobile body, the vibration of the vibrator is applied to any one of a toe and a heel of the foot of the trainer determined according to the direction from the current position of the center of gravity position to the desired position.